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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">create_camera_setup_model</span><span data-if="c" style="display:none;">T_create_camera_setup_model</span><span data-if="cpp" style="display:none;">CreateCameraSetupModel</span><span data-if="dotnet" style="display:none;">CreateCameraSetupModel</span><span data-if="python" style="display:none;">create_camera_setup_model</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">create_camera_setup_model</span><span data-if="c" style="display:none;">T_create_camera_setup_model</span><span data-if="cpp" style="display:none;">CreateCameraSetupModel</span><span data-if="dotnet" style="display:none;">CreateCameraSetupModel</span><span data-if="python" style="display:none;">create_camera_setup_model</span></code> — Create a model for a setup of calibrated cameras.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>create_camera_setup_model</b>( :  : <a href="#NumCameras"><i>NumCameras</i></a> : <a href="#CameraSetupModelID"><i>CameraSetupModelID</i></a>)</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>T_create_camera_setup_model</b>(const Htuple <a href="#NumCameras"><i>NumCameras</i></a>, Htuple* <a href="#CameraSetupModelID"><i>CameraSetupModelID</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>CreateCameraSetupModel</b>(const HTuple&amp; <a href="#NumCameras"><i>NumCameras</i></a>, HTuple* <a href="#CameraSetupModelID"><i>CameraSetupModelID</i></a>)</code></p>
<p>
<code>void <a href="HCameraSetupModel.html">HCameraSetupModel</a>::<b>HCameraSetupModel</b>(Hlong <a href="#NumCameras"><i>NumCameras</i></a>)</code></p>
<p>
<code>void <a href="HCameraSetupModel.html">HCameraSetupModel</a>::<b>CreateCameraSetupModel</b>(Hlong <a href="#NumCameras"><i>NumCameras</i></a>)</code></p>
</div>
<div data-if="com" style="display:none;"></div>
<div data-if="dotnet" style="display:none;">
<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>CreateCameraSetupModel</b>(<a href="HTuple.html">HTuple</a> <a href="#NumCameras"><i>numCameras</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CameraSetupModelID"><i>cameraSetupModelID</i></a>)</code></p>
<p>
<code>public <a href="HCameraSetupModel.html">HCameraSetupModel</a>(int <a href="#NumCameras"><i>numCameras</i></a>)</code></p>
<p>
<code>void <a href="HCameraSetupModel.html">HCameraSetupModel</a>.<b>CreateCameraSetupModel</b>(int <a href="#NumCameras"><i>numCameras</i></a>)</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>create_camera_setup_model</b>(<a href="#NumCameras"><i>num_cameras</i></a>: int) -&gt; HHandle</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p>该算子 <code><span data-if="hdevelop" style="display:inline">create_camera_setup_model</span><span data-if="c" style="display:none">create_camera_setup_model</span><span data-if="cpp" style="display:none">CreateCameraSetupModel</span><span data-if="com" style="display:none">CreateCameraSetupModel</span><span data-if="dotnet" style="display:none">CreateCameraSetupModel</span><span data-if="python" style="display:none">create_camera_setup_model</span></code> creates a new camera
setup model and returns a handle to it in <a href="#CameraSetupModelID"><i><code><span data-if="hdevelop" style="display:inline">CameraSetupModelID</span><span data-if="c" style="display:none">CameraSetupModelID</span><span data-if="cpp" style="display:none">CameraSetupModelID</span><span data-if="com" style="display:none">CameraSetupModelID</span><span data-if="dotnet" style="display:none">cameraSetupModelID</span><span data-if="python" style="display:none">camera_setup_model_id</span></code></i></a>.
The camera setup comprises a fixed number of cameras, which is
specified by <a href="#NumCameras"><i><code><span data-if="hdevelop" style="display:inline">NumCameras</span><span data-if="c" style="display:none">NumCameras</span><span data-if="cpp" style="display:none">NumCameras</span><span data-if="com" style="display:none">NumCameras</span><span data-if="dotnet" style="display:none">numCameras</span><span data-if="python" style="display:none">num_cameras</span></code></i></a> and cannot be changed once the model
was created. For each camera, the setup stores its internal parameters,
covariances of the internal parameters (optional) and a pose of the
camera.
</p>
<p>Using <a href="set_camera_setup_param.html"><code><span data-if="hdevelop" style="display:inline">set_camera_setup_param</span><span data-if="c" style="display:none">set_camera_setup_param</span><span data-if="cpp" style="display:none">SetCameraSetupParam</span><span data-if="com" style="display:none">SetCameraSetupParam</span><span data-if="dotnet" style="display:none">SetCameraSetupParam</span><span data-if="python" style="display:none">set_camera_setup_param</span></code></a>, you can change the coordinate
system in which the cameras are represented: You can either select
a camera and convert all camera poses to be relative to this camera
or you can apply a general coordinate transformation, which moves
the setup's coordinate system into an arbitrary pose. Changing the coordinate
system of the camera setup is particularly useful in cases, where, e.g.,
you want to represent the cameras in the coordinate system of an
object being observed by the cameras. This concept is further
demonstrated in the example below.
</p>
<p>The internal parameters and pose of a camera are set or modified by
<a href="set_camera_setup_cam_param.html"><code><span data-if="hdevelop" style="display:inline">set_camera_setup_cam_param</span><span data-if="c" style="display:none">set_camera_setup_cam_param</span><span data-if="cpp" style="display:none">SetCameraSetupCamParam</span><span data-if="com" style="display:none">SetCameraSetupCamParam</span><span data-if="dotnet" style="display:none">SetCameraSetupCamParam</span><span data-if="python" style="display:none">set_camera_setup_cam_param</span></code></a>. Further camera parameters and
general setup parameters can be set by <a href="set_camera_setup_param.html"><code><span data-if="hdevelop" style="display:inline">set_camera_setup_param</span><span data-if="c" style="display:none">set_camera_setup_param</span><span data-if="cpp" style="display:none">SetCameraSetupParam</span><span data-if="com" style="display:none">SetCameraSetupParam</span><span data-if="dotnet" style="display:none">SetCameraSetupParam</span><span data-if="python" style="display:none">set_camera_setup_param</span></code></a> as
well. All parameters can be read back by <a href="get_camera_setup_param.html"><code><span data-if="hdevelop" style="display:inline">get_camera_setup_param</span><span data-if="c" style="display:none">get_camera_setup_param</span><span data-if="cpp" style="display:none">GetCameraSetupParam</span><span data-if="com" style="display:none">GetCameraSetupParam</span><span data-if="dotnet" style="display:none">GetCameraSetupParam</span><span data-if="python" style="display:none">get_camera_setup_param</span></code></a>.
</p>
<p>A camera setup model can be saved into a file by
<a href="write_camera_setup_model.html"><code><span data-if="hdevelop" style="display:inline">write_camera_setup_model</span><span data-if="c" style="display:none">write_camera_setup_model</span><span data-if="cpp" style="display:none">WriteCameraSetupModel</span><span data-if="com" style="display:none">WriteCameraSetupModel</span><span data-if="dotnet" style="display:none">WriteCameraSetupModel</span><span data-if="python" style="display:none">write_camera_setup_model</span></code></a> and read back by
<a href="read_camera_setup_model.html"><code><span data-if="hdevelop" style="display:inline">read_camera_setup_model</span><span data-if="c" style="display:none">read_camera_setup_model</span><span data-if="cpp" style="display:none">ReadCameraSetupModel</span><span data-if="com" style="display:none">ReadCameraSetupModel</span><span data-if="dotnet" style="display:none">ReadCameraSetupModel</span><span data-if="python" style="display:none">read_camera_setup_model</span></code></a>.
</p>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  <li>未经并行化处理。</li>
</ul>
<p>This operator returns a handle. Note that the state of an instance of this handle type may be changed by specific operators even though the handle is used as an input parameter by those operators.</p>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="NumCameras" class="parname"><b><code><span data-if="hdevelop" style="display:inline">NumCameras</span><span data-if="c" style="display:none">NumCameras</span><span data-if="cpp" style="display:none">NumCameras</span><span data-if="com" style="display:none">NumCameras</span><span data-if="dotnet" style="display:none">numCameras</span><span data-if="python" style="display:none">num_cameras</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Number of cameras in the setup.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>2</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>1, 2, 3, 4</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>NumCameras &gt;= 1</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="CameraSetupModelID" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CameraSetupModelID</span><span data-if="c" style="display:none">CameraSetupModelID</span><span data-if="cpp" style="display:none">CameraSetupModelID</span><span data-if="com" style="display:none">CameraSetupModelID</span><span data-if="dotnet" style="display:none">cameraSetupModelID</span><span data-if="python" style="display:none">camera_setup_model_id</span></code></b> (output_control)  </span><span>camera_setup_model <code>→</code> <span data-if="dotnet" style="display:none"><a href="HCameraSetupModel.html">HCameraSetupModel</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">HHandle</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (handle)</span><span data-if="dotnet" style="display:none"> (<i>IntPtr</i>)</span><span data-if="cpp" style="display:none"> (<i>HHandle</i>)</span><span data-if="c" style="display:none"> (<i>handle</i>)</span></span>
</div>
<p class="pardesc">Handle to the camera setup model.</p>
</div>
<h2 id="sec_example_all">例程 (HDevelop)</h2>
<pre class="example">
* Create camera setup of three cameras.
create_camera_setup_model (3, CameraSetupModelID)
gen_cam_par_area_scan_division (0.006, 0, 8.3e-6, 8.3e-6,\
              512, 384, 1024, 768, StartCamPar)
* Camera 0 is located in the origin.
set_camera_setup_cam_param (CameraSetupModelID, 0, [], StartCamPar,\
                            [0, 0, 0, 0, 0, 0, 0])

* Camera 1 is shifted 0.07 m in positive x-direction relative to
* camera 0.
set_camera_setup_cam_param (CameraSetupModelID, 1, [], StartCamPar,\
                            [0.07, 0, 0, 0, 0, 0, 0])

* Camera 2 is shifted 0.1 m in negative y-direction relative to
* camera 0.
set_camera_setup_cam_param (CameraSetupModelID, 2, [], StartCamPar,\
                            [0.0, -0.1, 0, 0, 0, 0, 0])

* There is an object, which is 0.5 away from the origin in
* z-direction, and is facing the origin.
ObjectPose := [0, 0, 0.5, 180, 0, 0, 0]
* Place the setup's origin in the object.
set_camera_setup_param (CameraSetupModelID, 'general', 'coord_transf_pose',\
                        ObjectPose)

* Now the camera poses are given relative to the object.
get_camera_setup_param (CameraSetupModelID, 0, 'pose', CamPose0)
* CamPose0 is equivalent to [0.0, 0.0, 0.5, 180.0, 0.0, 0.0, 0]

get_camera_setup_param (CameraSetupModelID, 1, 'pose', CamPose1)
* CamPose1 is equivalent to [0.07, 0.0, 0.5, 180.0, 0.0, 0.0, 0]

get_camera_setup_param (CameraSetupModelID, 2, 'pose', CamPose2)
* CamPose2 is equivalent to [0.0, 0.1, 0.5, 180.0, 0.0, 0.0, 0]

</pre>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="set_camera_setup_param.html"><span data-if="hdevelop" style="display:inline">set_camera_setup_param</span><span data-if="c" style="display:none">set_camera_setup_param</span><span data-if="cpp" style="display:none">SetCameraSetupParam</span><span data-if="com" style="display:none">SetCameraSetupParam</span><span data-if="dotnet" style="display:none">SetCameraSetupParam</span><span data-if="python" style="display:none">set_camera_setup_param</span></a></code>
</p>
<h2 id="sec_module">模块</h2>
<p>
Calibration</p>
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